OpenRaiser/Intern-Atlas huggingface dataset:
Systematic Comparison of Path Planning Algorithms using PathBench
Venue: arXiv cs.RO 2022
Year: 2022

Path planning is an essential component of mobile robotics. Classical path planning algorithms, such as wavefront and rapidly-exploring random tree (RRT) are used heavily in autonomous robots. With the recent advances in machine learning, development of learning-based path planning algorithms has been experiencing rapid growth. An unified path planning interface that facilitates the development and benchmarking of existing and new algorithms is needed. This paper presents PathBench, a platform for developing, visualizing, training, testing, and benchmarking of existing and future, classical and learning-based path planning algorithms in 2D and 3D grid world environments. Many existing path planning algorithms are supported; e.g. A*, Dijkstra, waypoint planning networks, value iteration networks, gated path planning networks; and integrating new algorithms is easy and clearly specified. The benchmarking ability of PathBench is explored in this paper by comparing algorithms across five different hardware systems and three different map types, including built-in PathBench maps, video game maps, and maps from real world databases. Metrics, such as path length, success rate, and computational time, were used to evaluate algorithms. Algorithmic analysis was also performed on a real world robot to demonstrate PathBench's support for Robot Operating System (ROS). PathBench is open source.
HintNet: Hierarchical Knowledge Transfer Networks for Traffic Accident Forecasting on Heterogeneous Spatio-Temporal Data
Venue: arXiv cs.LG 2022
Year: 2022

Traffic accident forecasting is a significant problem for transportation management and public safety. However, this problem is challenging due to the spatial heterogeneity of the environment and the sparsity of accidents in space and time. The occurrence of traffic accidents is affected by complex dependencies among spatial and temporal features. Recent traffic accident prediction methods have attempted to use deep learning models to improve accuracy. However, most of these methods either focus on small-scale and homogeneous areas such as populous cities or simply use sliding-window-based ensemble methods, which are inadequate to handle heterogeneity in large regions. To address these limitations, this paper proposes a novel Hierarchical Knowledge Transfer Network (HintNet) model to better capture irregular heterogeneity patterns. HintNet performs a multi-level spatial partitioning to separate sub-regions with different risks and learns a deep network model for each level using spatio-temporal and graph convolutions. Through knowledge transfer across levels, HintNet archives both higher accuracy and higher training efficiency. Extensive experiments on a real-world accident dataset from the state of Iowa demonstrate that HintNet outperforms the state-of-the-art methods on spatially heterogeneous and large-scale areas.
Dynamic Pricing for Client Recruitment in Federated Learning
Venue: arXiv cs.GT 2022
Year: 2022

Though federated learning (FL) well preserves clients' data privacy, many clients are still reluctant to join FL given the communication cost and energy consumption in their mobile devices. It is important to design pricing compensations to motivate enough clients to join FL and distributively train the global model. Prior pricing mechanisms for FL are static and cannot adapt to clients' random arrival pattern over time. We propose a new dynamic pricing solution in closed-form by constructing the Hamiltonian function to optimally balance the client recruitment time and the model training time, without knowing clients' actual arrivals or training costs. During the client recruitment phase, we offer time-dependent monetary rewards per client arrival to trade-off between the total payment and the FL model's accuracy loss. Such reward gradually increases when we approach to the recruitment deadline or have greater data aging, and we also extend the deadline if the clients' training time per iteration becomes shorter. Further, we extend to consider heterogeneous client types in training data size and training time per iteration. We successfully extend our dynamic pricing solution and develop an optimal algorithm of linear complexity to monotonically select client types for FL. Finally, we also show the robustness of our solution against estimation error of clients' data sizes and run numerical experiments to validate our conclusion.
Semantic Segmentation in Art Paintings
Venue: arXiv cs.CV 2022
Year: 2022

Semantic segmentation is a difficult task even when trained in a supervised manner on photographs. In this paper, we tackle the problem of semantic segmentation of artistic paintings, an even more challenging task because of a much larger diversity in colors, textures, and shapes and because there are no ground truth annotations available for segmentation. We propose an unsupervised method for semantic segmentation of paintings using domain adaptation. Our approach creates a training set of pseudo-paintings in specific artistic styles by using style-transfer on the PASCAL VOC 2012 dataset, and then applies domain confusion between PASCAL VOC 2012 and real paintings. These two steps build on a new dataset we gathered called DRAM (Diverse Realism in Art Movements) composed of figurative art paintings from four movements, which are highly diverse in pattern, color, and geometry. To segment new paintings, we present a composite multi-domain adaptation method that trains on each sub-domain separately and composes their solutions during inference time. Our method provides better segmentation results not only on the specific artistic movements of DRAM, but also on other, unseen ones. We compare our approach to alternative methods and show applications of semantic segmentation in art paintings. The code and models for our approach are publicly available at: https://github.com/Nadavc220/SemanticSegmentationInArtPaintings.
Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces
Venue: arXiv cs.RO 2022
Year: 2022

This paper contributes to a taxonomy of augmented reality and robotics based on a survey of 460 research papers. Augmented and mixed reality (AR/MR) have emerged as a new way to enhance human-robot interaction (HRI) and robotic interfaces (e.g., actuated and shape-changing interfaces). Recently, an increasing number of studies in HCI, HRI, and robotics have demonstrated how AR enables better interactions between people and robots. However, often research remains focused on individual explorations and key design strategies, and research questions are rarely analyzed systematically. In this paper, we synthesize and categorize this research field in the following dimensions: 1) approaches to augmenting reality; 2) characteristics of robots; 3) purposes and benefits; 4) classification of presented information; 5) design components and strategies for visual augmentation; 6) interaction techniques and modalities; 7) application domains; and 8) evaluation strategies. We formulate key challenges and opportunities to guide and inform future research in AR and robotics.
Efficient Policy Generation in Multi-Agent Systems via Hypergraph Neural Network
Venue: arXiv cs.AI 2022
Year: 2022

The application of deep reinforcement learning in multi-agent systems introduces extra challenges. In a scenario with numerous agents, one of the most important concerns currently being addressed is how to develop sufficient collaboration between diverse agents. To address this problem, we consider the form of agent interaction based on neighborhood and propose a multi-agent reinforcement learning (MARL) algorithm based on the actor-critic method, which can adaptively construct the hypergraph structure representing the agent interaction and further implement effective information extraction and representation learning through hypergraph convolution networks, leading to effective cooperation. Based on different hypergraph generation methods, we present two variants: Actor Hypergraph Convolutional Critic Network (HGAC) and Actor Attention Hypergraph Critic Network (ATT-HGAC). Experiments with different settings demonstrate the advantages of our approach over other existing methods.
On Credit Assignment in Hierarchical Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

Hierarchical Reinforcement Learning (HRL) has held longstanding promise to advance reinforcement learning. Yet, it has remained a considerable challenge to develop practical algorithms that exhibit some of these promises. To improve our fundamental understanding of HRL, we investigate hierarchical credit assignment from the perspective of conventional multistep reinforcement learning. We show how e.g., a 1-step `hierarchical backup' can be seen as a conventional multistep backup with $n$ skip connections over time connecting each subsequent state to the first independent of actions inbetween. Furthermore, we find that generalizing hierarchy to multistep return estimation methods requires us to consider how to partition the environment trace, in order to construct backup paths. We leverage these insight to develop a new hierarchical algorithm Hier$Q_k(λ)$, for which we demonstrate that hierarchical credit assignment alone can already boost agent performance (i.e., when eliminating generalization or exploration). Altogether, our work yields fundamental insight into the nature of hierarchical backups and distinguishes this as an additional basis for reinforcement learning research.
Dynamic ConvNets on Tiny Devices via Nested Sparsity
Venue: arXiv cs.LG 2022
Year: 2022

This work introduces a new training and compression pipeline to build Nested Sparse ConvNets, a class of dynamic Convolutional Neural Networks (ConvNets) suited for inference tasks deployed on resource-constrained devices at the edge of the Internet-of-Things. A Nested Sparse ConvNet consists of a single ConvNet architecture containing N sparse sub-networks with nested weights subsets, like a Matryoshka doll, and can trade accuracy for latency at run time, using the model sparsity as a dynamic knob. To attain high accuracy at training time, we propose a gradient masking technique that optimally routes the learning signals across the nested weights subsets. To minimize the storage footprint and efficiently process the obtained models at inference time, we introduce a new sparse matrix compression format with dedicated compute kernels that fruitfully exploit the characteristic of the nested weights subsets. Tested on image classification and object detection tasks on an off-the-shelf ARM-M7 Micro Controller Unit (MCU), Nested Sparse ConvNets outperform variable-latency solutions naively built assembling single sparse models trained as stand-alone instances, achieving (i) comparable accuracy, (ii) remarkable storage savings, and (iii) high performance. Moreover, when compared to state-of-the-art dynamic strategies, like dynamic pruning and layer width scaling, Nested Sparse ConvNets turn out to be Pareto optimal in the accuracy vs. latency space.
Open Set Domain Adaptation By Novel Class Discovery
Venue: arXiv cs.CV 2022
Year: 2022

In Open Set Domain Adaptation (OSDA), large amounts of target samples are drawn from the implicit categories that never appear in the source domain. Due to the lack of their specific belonging, existing methods indiscriminately regard them as a single class unknown. We challenge this broadly-adopted practice that may arouse unexpected detrimental effects because the decision boundaries between the implicit categories have been fully ignored. Instead, we propose Self-supervised Class-Discovering Adapter (SCDA) that attempts to achieve OSDA by gradually discovering those implicit classes, then incorporating them to restructure the classifier and update the domain-adaptive features iteratively. SCDA performs two alternate steps to achieve implicit class discovery and self-supervised OSDA, respectively. By jointly optimizing for two tasks, SCDA achieves the state-of-the-art in OSDA and shows a competitive performance to unearth the implicit target classes.
An STDP-Based Supervised Learning Algorithm for Spiking Neural Networks
Venue: arXiv cs.NE 2022
Year: 2022

Compared with rate-based artificial neural networks, Spiking Neural Networks (SNN) provide a more biological plausible model for the brain. But how they perform supervised learning remains elusive. Inspired by recent works of Bengio et al., we propose a supervised learning algorithm based on Spike-Timing Dependent Plasticity (STDP) for a hierarchical SNN consisting of Leaky Integrate-and-fire (LIF) neurons. A time window is designed for the presynaptic neuron and only the spikes in this window take part in the STDP updating process. The model is trained on the MNIST dataset. The classification accuracy approach that of a Multilayer Perceptron (MLP) with similar architecture trained by the standard back-propagation algorithm.
A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control
Venue: arXiv cs.RO 2022
Year: 2022

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in diverse manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller. Our method can adapt well to various types of robotic arms with a few random motion samples and the experimental results demonstrate the effectiveness of our method.
Multivariate Time Series Forecasting with Latent Graph Inference
Venue: arXiv cs.LG 2022
Year: 2022

This paper introduces a new approach for Multivariate Time Series forecasting that jointly infers and leverages relations among time series. Its modularity allows it to be integrated with current univariate methods. Our approach allows to trade-off accuracy and computational efficiency gradually via offering on one extreme inference of a potentially fully-connected graph or on another extreme a bipartite graph. In the potentially fully-connected case we consider all pair-wise interactions among time-series which yields the best forecasting accuracy. Conversely, the bipartite case leverages the dependency structure by inter-communicating the N time series through a small set of K auxiliary nodes that we introduce. This reduces the time and memory complexity w.r.t. previous graph inference methods from O(N^2) to O(NK) with a small trade-off in accuracy. We demonstrate the effectiveness of our model in a variety of datasets where both of its variants perform better or very competitively to previous graph inference methods in terms of forecasting accuracy and time efficiency.
Zero-One Laws and Almost Sure Valuations of First-Order Logic in Semiring Semantics
Venue: arXiv cs.LO 2022
Year: 2022

Semiring semantics evaluates logical statements by values in some commutative semiring K. Random semiring interpretations, induced by a probability distribution on K, generalise random structures, and we investigate here the question of how classical results on first-order logic on random structures, most importantly the 0-1 laws of Glebskii et al. and Fagin, generalise to semiring semantics. For positive semirings, the classical 0-1 law implies that every first-order sentence is, asymptotically, either almost surely evaluated to 0 by random semiring interpretations, or almost surely takes only values different from 0. However, by means of a more sophisticated analysis, based on appropriate extension properties and on algebraic representations of first-order formulae, we can prove much stronger results. For many semirings K, the first-order sentences can be partitioned into classes F(j) for all semiring values j in K, such that every sentence in F(j) evaluates almost surely to j under random semiring interpretations. Further, for finite or infinite lattice semirings, this partition actually collapses to just three classes F(0), F(1), and F(e), of sentences that, respectively, almost surely evaluate to 0, 1, and to the smallest non-zero value e. The problem of computing the almost sure valuation of a first-order sentence on finite lattice semirings is PSPACE-complete. An important semiring where the analysis is somewhat different is the semiring of natural numbers. Here, both addition and multiplication are increasing with respect to the natural semiring order and the classes F(j), for natural numbers j, no longer cover all FO-sentences, but have to be extended by the class of sentences that almost surely evaluate to unboundedly large values.
Multi-Modal Attribute Extraction for E-Commerce
Venue: arXiv cs.CV 2022
Year: 2022

To improve users' experience as they navigate the myriad of options offered by online marketplaces, it is essential to have well-organized product catalogs. One key ingredient to that is the availability of product attributes such as color or material. However, on some marketplaces such as Rakuten-Ichiba, which we focus on, attribute information is often incomplete or even missing. One promising solution to this problem is to rely on deep models pre-trained on large corpora to predict attributes from unstructured data, such as product descriptive texts and images (referred to as modalities in this paper). However, we find that achieving satisfactory performance with this approach is not straightforward but rather the result of several refinements, which we discuss in this paper. We provide a detailed description of our approach to attribute extraction, from investigating strong single-modality methods, to building a solid multimodal model combining textual and visual information. One key component of our multimodal architecture is a novel approach to seamlessly combine modalities, which is inspired by our single-modality investigations. In practice, we notice that this new modality-merging method may suffer from a modality collapse issue, i.e., it neglects one modality. Hence, we further propose a mitigation to this problem based on a principled regularization scheme. Experiments on Rakuten-Ichiba data provide empirical evidence for the benefits of our approach, which has been also successfully deployed to Rakuten-Ichiba. We also report results on publicly available datasets showing that our model is competitive compared to several recent multimodal and unimodal baselines.
Robust Modeling of Unknown Dynamical Systems via Ensemble Averaged Learning
Venue: arXiv cs.LG 2022
Year: 2022

Recent work has focused on data-driven learning of the evolution of unknown systems via deep neural networks (DNNs), with the goal of conducting long time prediction of the evolution of the unknown system. Training a DNN with low generalization error is a particularly important task in this case as error is accumulated over time. Because of the inherent randomness in DNN training, chiefly in stochastic optimization, there is uncertainty in the resulting prediction, and therefore in the generalization error. Hence, the generalization error can be viewed as a random variable with some probability distribution. Well-trained DNNs, particularly those with many hyperparameters, typically result in probability distributions for generalization error with low bias but high variance. High variance causes variability and unpredictably in the results of a trained DNN. This paper presents a computational technique which decreases the variance of the generalization error, thereby improving the reliability of the DNN model to generalize consistently. In the proposed ensemble averaging method, multiple models are independently trained and model predictions are averaged at each time step. A mathematical foundation for the method is presented, including results regarding the distribution of the local truncation error. In addition, three time-dependent differential equation problems are considered as numerical examples, demonstrating the effectiveness of the method to decrease variance of DNN predictions generally.
The importance of being constrained: dealing with infeasible solutions in Differential Evolution and beyond
Venue: arXiv cs.NE 2022
Year: 2022

We argue that results produced by a heuristic optimisation algorithm cannot be considered reproducible unless the algorithm fully specifies what should be done with solutions generated outside the domain, even in the case of simple box constraints. Currently, in the field of heuristic optimisation, such specification is rarely mentioned or investigated due to the assumed triviality or insignificance of this question. Here, we demonstrate that, at least in algorithms based on Differential Evolution, this choice induces notably different behaviours - in terms of performance, disruptiveness and population diversity. This is shown theoretically (where possible) for standard Differential Evolution in the absence of selection pressure and experimentally for the standard and state-of-the-art Differential Evolution variants on special test function $f_0$ and BBOB benchmarking suite, respectively. Moreover, we demonstrate that the importance of this choice quickly grows with problem's dimensionality. Different Evolution is not at all special in this regard - there is no reason to presume that other heuristic optimisers are not equally affected by the aforementioned algorithmic choice. Thus, we urge the field of heuristic optimisation to formalise and adopt the idea of a new algorithmic component in heuristic optimisers, which we call here a strategy of dealing with infeasible solutions. This component needs to be consistently (a) specified in algorithmic descriptions to guarantee reproducibility of results, (b) studied to better understand its impact on algorithm's performance in a wider sense and (c) included in the (automatic) algorithmic design. All of these should be done even for problems with box constraints.
Fine-Tuning Approach for Arabic Offensive Language Detection System: BERT-Based Model
Venue: arXiv cs.CL 2022
Year: 2022

The problem of online offensive language limits the health and security of online users. It is essential to apply the latest state-of-the-art techniques in developing a system to detect online offensive language and to ensure social justice to the online communities. Our study investigates the effects of fine-tuning across several Arabic offensive language datasets. We develop multiple classifiers that use four datasets individually and in combination in order to gain knowledge about online Arabic offensive content and classify users comments accordingly. Our results demonstrate the limited effects of transfer learning on the classifiers performance, particularly for highly dialectal comments.